cmake_minimum_required(VERSION 3.0.2)
project(task_main)

find_package(catkin REQUIRED COMPONENTS
  rospy
  std_msgs
  geometry_msgs
  tf
  tf2_ros
  tf_conversions
  move_base_msgs

  eigen_conversions 
)

add_message_files(
  DIRECTORY msg 
  FILES
  DMPose.msg
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES 
  std_msgs
  actionlib_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES turn_on_robot
 CATKIN_DEPENDS 
  rospy
  std_msgs
  geometry_msgs
  tf
  tf2_ros
  tf_conversions
  move_base_msgs
  message_runtime 
  eigen_conversions 
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

link_directories(
  /usr/lib/
)

add_executable(task_main src/task_main.cpp
                            src/tools.cpp
                            src/navigation.cpp
                            src/pcl_match.cpp
)

target_link_libraries(task_main
  ${catkin_LIBRARIES}
)
